Control system for an injection molding machine and a method for controlling the injection molding machine

ABSTRACT

A control system for an injection molding machine performs a molding cycle. The molding cycle includes a filling process for controlling an advancing motion of a screw of the injection molding machine, and a hold press process for controlling a pressure of a molten resin after the filling process. The control system includes retracting speed limit means for limiting a retracting speed of the screw to a predetermined retracting speed limit value after a pressure control in the hold press process begins.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a Continuation of U.S. patent application Ser. No. 10/436,979,filed on May 14, 2003. The subject matter of this previously filedapplication is hereby incorporated by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention generally relates to control systems for injectionmolding machines and methods for controlling the injection moldingmachines. More particularly, the present invention relates to a controlsystem for an injection molding machine performing a molding cycleincluding a filling process and a hold press process following thefilling process, and a method for controlling the injection moldingmachine.

2. Description of the Related Art

First, an explanation will be given of a molding cycle of an injectionmolding machine, comprising a plasticizing process, a metering process,a filling process and a hold press process in a case of a motor-driveninjection molding machine as an example.

(1) Plasticizing Process/Metering Process

In the plasticizing and metering processes, a servo-motor for screwrotation rotates the screw. The screw is located within a heatingcylinder. Resin is fed from a hopper to the rear portion of the screw inthe heating cylinder. By the rotation of the screw, the resin providedto the rear portion of the screw from the hopper is melted and a givenamount thereof is fed to the tip end of the heating cylinder. Duringthis time, the screw is retracted while being subjected to a backpressure, namely the pressure of molten resin accumulating at the tipend of the heating cylinder.

An injection shaft is directly connected to a rear end portion of thescrew. The injection shaft is rotatably supported by a pressure platethrough a bearing. The injection shaft is driven in the axial directionby a servo-motor for injection that is supported on the pressure plate.The pressure plate is driven through a ball screw by a servo-motor forinjection to advance and retract along guide bars. The foregoing backpressure of molten resin is detected by a load cell in a mannerdescribed later. The detected value of the load cell is controlled by afeed-back control loop for pressures.

(2) Filling Process

Then, in the filling process, driving of the servo-motor for injectioncauses the pressure plate to advance to fill molten resin into a moldwith the screw tip end as a piston. Resin pressure at the screw tip endat this time is detected as an injection pressure.

At the end of the filling process, the molten resin fills a cavity ofthe mold. At that point, the advancing motion of the screw causesswitching of velocity control to pressure control. Such switching ofvelocity control to pressure control is referred as a V-P switching andaffects the quality of the resultant molded article.

(3) Hold Press Process

Following the V-P switching, the resin within the cavity of the mold isallowed to cool under a preset pressure. This process is referred to asa hold press process. In the hold press process, resin pressure iscontrolled with a feed-back control loop as in the above-mentioned backpressure control.

In an injection apparatus of the injection molding machine, when theprocess (3) is completed, the control system goes back to the process(1) and shifts to the succeeding molding cycle. In a mold clampingapparatus of the injection molding machine, concurrently with theprocess (1), the mold is opened to permit an ejector mechanism todischarge a molding product having been cooled and solidified, and thenthe mold is closed for the process (2).

Meanwhile, for injection molding, measurement precision greatly dependson the profile of the resin pressure in the filling and hold pressprocesses. For example, in a case of manufacturing a thin-walled moldedarticle, due to differences of the resin pressure just after the V-Pswitching in particular, molding defects phenomena such as a short shot,sink, flash, warpage, and the like may be generated every so often.

There are V-P switching position settings, injection speed settings,hold press settings and the like as molding conditions in order toprevent the above mentioned molding defects phenomena. An operation forthe above mentioned settings is called a molding conditiondetermination. The molding condition determination is complex becausethe above mentioned settings influence each other. Hence, only the “holdpress settings” and “time settings” are used as the molding conditionsin the conventional hold press process and several values of pressureare set as the hold press settings.

For example, in a case where the resin pressure at the time of V-Pswitching is high, if the hold press pressure that makes the resinpressure low is set as a hold press setting value, the screw retracts.However, if the retracting speed is not controlled, as described later,there are problems in that the molded article is adversely affected.

FIG. 1 is a view for explaining the filling process and hold pressprocess of the molding cycle when a conventional method for controllingis applied.

More specifically, FIG. 1-(a) shows a profile of injection speeds in thefilling process and hold press process of the molding cycle when aconventional method for controlling is applied; FIG. 1-(b) shows aprofile of the resin pressure in the filling process and hold pressprocess of the molding cycle when a conventional method for controllingis applied; FIG. 1-(c) shows a profile of a screw position, that is thedistance between the tip end of the screw and the end part at the nozzleside of the heating cylinder, in the filling process and hold pressprocess of the molding cycle when a conventional method for controllingis applied.

In FIG. 1-(a), positive injection speed represents an advancing of thescrew and negative injection speed represents a retracting of the screw.As shown in FIG. 1-(b), for convenience, only a first segment ofpressure setting in the hold press process is shown as an example.Control for the hold press process is performed based on setting thehold press pressure Ph1 and time t1.

As the injection begins, the screw advances as shown in FIG. 1-(a), andthe distance between the tip end of the screw and the end part at thenozzle side of the heating cylinder is shortened, so that the resinfills the cavity of the mold.

There is a case where the volume of the resin in the cavity increaseswhen the molten resin compressed by a gate of the screw tip end isinjected into the cavity of the mold. In this case, even if the pressureof the screw head part is changed in order to change the hold presspressure in the hold press pressure process, the resin in the cavity isseldom influenced or reacts excessively.

In a case where the resin pressure at the time of the V-P switching ishigh, when the first hold press setting value is set so as to reduce theresin pressure, the screw retracts. That is, a retracting speed of thescrew is generated. Particularly, in a case where there is a bigdifference between the resin pressure at the time of the V-P switchingand the first hold press setting value Ph1, as shown in a partsurrounded by a dotted line in FIG. 1-(a), the retracting speed of thescrew becomes high. If the retracting speed of the screw becomes high, anegative pressure is applied to the molten resin. As a result of this,an adverse effect on the molten resin, such as the generation of a voidin the molten resin, may be invited.

SUMMARY OF THE INVENTION

Accordingly, it is a general object of the present invention to providea novel and useful control system for an injection molding machine andmethod for controlling the injection molding machine, in which one ormore of the problems described above are eliminated.

Another and more specific object of the present invention is to providea control system of an injection molding machine and a method forcontrolling the injection molding machine, whereby after the V-Pswitching is performed, in the hold press process, a retraction of thescrew at a high speed is controlled so that the measurement precision ofthe molded article can be improved.

It is also an object of the present invention to provide a controlsystem for an injection molding machine that performs a molding cycle,

the molding cycle including a filling process for controlling anadvancing motion of a screw of the injection molding machine, and a holdpress process for controlling a pressure of a molten resin after thefilling process,

the control system comprising retracting speed limit means for limitinga retracting speed of the screw to a predetermined retracting speedlimit value after a pressure control in the hold press process begins.

The control system may further include:

pressure detection means for detecting a hold press pressure that is aresin pressure in the hold press process; and

speed detecting means for detecting the retracting speed of the screw,

wherein the retracting speed limit means includes:

first calculation means for calculating a first operation amount basedon a first difference between the retracting speed detected by the speeddetecting means and the predetermined retracting speed limit value;

second calculation means for calculating a second operation amount basedon a second difference between the hold press pressure detected by thepressure detection means and a hold press pressure preset value; and

control means for controlling the retracting speed of the screw based onthe first operation amount when the first operation amount is greaterthan the second operation amount, and for controlling the hold presspressure based on the second operation amount when the first operationamount is equal to or less than the second operation amount.

It is also an object of the present invention to provide a method forcontrolling an injection molding machine that performs a molding cycle,

the molding cycle including a filling process for controlling anadvancing motion of a screw of the injection molding machine, and a holdpress process for controlling a pressure of a molten resin after thefilling process,

the method comprising a step for limiting a retracting speed of thescrew to a predetermined retracting speed limit value after a pressurecontrol in the hold press process begins.

It is also an object of the present invention to provide a method forcontrolling an injection molding machine comprising the steps of:

a) advancing a screw of the injection molding machine so that a cavityof a mold is filled with molten resin;

b) retracting the screw based on a difference between a detectedpressure of the molten resin and a predetermined pressure of the moltenresin; and

c) limiting a retracting speed of the screw until the detected pressureof the molten resin reaches the predetermined pressure.

It is also an object of the present invention to provide a controlsystem for an injection molding machine,

the injection molding machine including a screw which is advanced by adriving device so that a cavity of a mold is filled with molten resin,and which is retracted based on a difference between a detected pressureof the molten resin and a predetermined pressure of the molten resinafter the mold is filled with the molten resin,

the control system comprising a controller for limiting a retractingspeed of the screw until the detected pressure of the molten resinreaches the predetermined pressure.

Thus, in the present invention, a limit of the retracting speed of thescrew is added as a molding condition in the hold press process, so thata control in the hold press process is automatically switched to eithera hold press pressure control or a screw retracting speed control.

Other objects, features, and advantages of the present invention willbecome more apparent from the following detailed description when readin conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view for explaining the filling process and hold pressprocess of the molding cycle when a conventional method for controllingis applied;

FIG. 2 is a view showing a schematic structure example of a motor-driveninjection molding machine having an injection apparatus driven by aservo motor, wherein a control system and a method for controlling of anembodiment of the present invention are applied;

FIG. 3 is a view showing a schematic structure example of a hydraulictype injection molding machine, wherein a control system and a methodfor controlling of an embodiment of the present invention are applied;

FIG. 4 is a view for explaining the filling process and hold pressprocess of the molding cycle when a method for controlling of anembodiment of the present invention is applied;

FIG. 5 is a function block diagram of retracting speed limit means inthe hold press process performed by a controller of the control systemfor the motor-driven injection molding machine of the embodiment of thepresent invention; and

FIG. 6 is a function block diagram of retracting speed limit means inthe hold press process performed by a controller of the control systemfor the hydraulic type injection molding machine of the embodiment ofthe present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

A description will now be given, with reference to FIGS. 2 through 6, ofembodiments of the present invention.

First, an outline of the injection molding machine to which the presentinvention is applied, will be described.

FIG. 2 is a view showing a schematic structure example of a motor-driveninjection molding machine having an injection apparatus driven by aservo motor, wherein a control system and a method for controlling of anembodiment of the present invention are applied.

Referring to FIG. 2, rotation of the servo-motor 11 for injection istransmitted to a ball screw 12. A nut 13 adapted to advance and retractupon rotation of the ball screw 12 is fixed to a pressure plate 14. Thepressure plate 14 is movable along a plurality of guide bars 15 and 16fixed to a base frame (not shown). Advancing and retracting movements ofthe pressure plate 14 are transmitted to a screw 20 via a bearing 17, aload cell 18, and an injection shaft 19.

The screw 20 is positioned within a heating cylinder 21 such that thescrew 20 is rotatable about and movable in the axial directions. Theheating cylinder 21 at the part corresponding to the rear portion of thescrew 20 is equipped with a hopper 22 for feeding a resin. A rotationmotion of a servo motor 24 for screw rotation is transmitted to theinjection shaft 19 via a connection member 23 such as a belt or apulley. That is, the screw 20 is rotated by rotational driving of theinjection shaft 19 with the servo motor 24 for screw rotating.

In the plasticizing and the metering processes, rotational driving ofthe servo-motor 24 causes the screw 20 to retract in the heatingcylinder 21 while rotating whereby molten resin is accumulated at thefront side of the screw 20, namely the side of a nozzle 21-1 of theheating cylinder 21.

In the filling process, rotational driving of the servo-motor 11 causesadvancement of the screw 20 to thereby fill the mold with theaccumulated, molten resin and pressurize the resin for molding. At thistime, forces, which push the resin, are detected as reaction forces bythe load cell 18. That is, the resin pressure at the tip end part of thescrew is detected. A detected value from the load cell 18 is amplifiedby a load cell amplifier 25 to be input into a controller 26.

A position detector 27 is mounted on the pressure plate 14 so as todetect amounts of movements of the screw 20. A detected value from theposition detector 27 is amplified by an amplifier 28 to be input intothe controller 26.

In accordance with setting established by an input device 35 with anoperator, the controller 26 outputs to servo-amplifiers 29 and 30current (torque) commands depending upon the respective processes.

The servo-amplifier 29 controls the drive current of the servo-motor 11to control output torque of the motor 11. The servo-amplifier 30controls the drive current of the servo-motors 24 to control outputtorque of the motor 24.

An encoder 31 for detecting the number of revolution of the servo motor11 is provided for the servo motor 11. An encoder 32 for detecting thenumber of revolution of the servo motor 24 is provided for the servomotor 24. The number of revolution detected by the encoders 31 and 32are input to the controller 26 respectively.

FIG. 3 is a view showing a schematic structure example of a hydraulictype injection molding machine, wherein a control system and a methodfor controlling of an embodiment of the present invention are applied.

Referring to FIG. 3, the hydraulic type injection molding machine wherethe present invention is applied includes an injection shaft 42 drivenby a cylinder 41 for screw driving. That is, the injection shaft 42 isdriven in an axial direction by controlling inflow and outflow ofactuating oil to the cylinder 41 for screw driving.

A servo valve 43 for cylinder driving switches oil paths for thecylinder 41 for screw driving, an oil source 44, and an actuating oiltank 45. Injection pressure detectors 46 and 47 are provided athydraulic pipes in order to detect an injection pressure as the resinpressure. A position detector 48 for detecting a screw position isprovided at the injection shaft 42.

Injection pressure detectors 46 and 47 correspond to the load cell 18shown in FIG. 2. Detected signals from the injection pressure detectors46 and 47 and the position detector 48 are received by the controller 50and thereby the controller 50 controls the servo valve 43 for cylinderdriving. As a result of this, speed control in the filling process andpressure control in the hold press process are performed.

Next, an embodiment of the control system and the method for controllingof the present invention will be described.

In the embodiment of the control system and the method for controllingof the present invention, the retracting speed of the screw iscontrolled to have a predetermined limit value, namely a screwretracting speed limit value, after a pressure control begins in thehold press process following the V-P switching.

That is, the screw retracting speed limit is provided as one of moldingconditions in the hold press process, so that control in the hold pressprocess is automatically switched to either hold press pressure controlor screw retracting speed control.

FIG. 4 is a view for explaining the filling process and hold pressprocess of the molding cycle when a method for controlling of anembodiment of the present invention is applied.

More specifically, FIG. 4-(a) shows a profile of injection speeds in thefilling process and hold press process of the molding cycle when themethod for controlling of the embodiment of the present invention isapplied; FIG. 4-(b) shows a profile of the resin pressure in the fillingprocess and hold press process of the molding cycle when the method forcontrolling of the embodiment of the present invention is applied; FIG.4-(c) shows a profile of a screw position, that is the distance betweenthe tip end of the screw and the end part at the nozzle side of theheating cylinder, in the filling process and hold press process of themolding cycle when the method for controlling of the embodiment of thepresent invention is applied.

In FIG. 4-(a), positive injection speed represents an advance of thescrew and negative injection speed represents a retraction of the screw.

As shown in FIG. 4-(b), for convenience, only a first segment ofpressure setting in the hold press process is shown. Control for thehold press process is performed based on setting the hold press pressurePh1 and time t1. However, the present invention is not limited to theabove mentioned example. The present invention may be applied to a casewhere a plurality of segments of hold press pressure are set.

As the injection begins, the screw advances as shown in FIG. 4-(a), andthe distance between the tip end of the screw and the end part at thenozzle side of the heating cylinder is shortened, so that the resinfills the cavity of the mold.

In the hold press process after the V-P switching, a first operationamount is calculated based on a first difference between the retractingspeed of the screw detected after the pressure control begins and thescrew retracting speed limit value that is predetermined. Furthermore,in the hold press process after the V-P switching, a second operationamount is calculated based on a second difference between the hold presspressure detected after the pressure control begins and the hold presspressure preset value that is predetermined. Control is performed byselecting the greater of the first operation amount and the secondoperation amount.

Specifically, in the hold press process following the V-P switching,after the pressure control begins, in a case where the first operationamount is equal to or less than the second operation amount, pressurecontrol equivalent to the conventional pressure control is performed. Ina case where the first operation amount is greater than the secondoperation amount, the screw retracting speed is controlled to the screwretracting speed limit value. The control for the screw retracting speedis actually performed by a control for the screw position.

FIG. 5 is a function block diagram of retracting speed limit means inthe hold press process performed by a controller of the control systemof the embodiment of the present invention.

First, an example wherein the control system and the method forcontrolling is applied to the motor-driven injection molding machineshown in FIG. 2 will be described.

The hold press pressure is detected as the resin pressure by the loadcell 18 shown in FIG. 2 that functions as the pressure detecting means.A detection value by the position detector 27 shown in FIG. 2 isdifferentiated so that the screw speed is detected, by the speeddetecting means. The controller 26 shown in FIG. 2 functions as theretracting speed limit means.

Referring to FIG. 5, after the pressure control begins in the hold pressprocess following the V-P switching, the first difference between thescrew retracting speed detection value (negative value) and the screwretracting speed limit value (negative value) that is predetermined iscalculated by a first subtracter 1. Here, as described above, the screwretracting speed detection value is obtained by differentiating a valuedetected by the position detector 27 shown in FIG. 2. The seconddifference between the hold press pressure detected by the load cell 18and the hold press pressure preset value that is predetermined iscalculated by a second subtracter 2. A first compensator 3 outputs thefirst operation amount based on the first difference. A secondcompensator 4 outputs the second operation amount based on the seconddifference. These operation amounts have same dimensions. Particularly,it is easy to perform a relative operation when the above mentionedoperation amounts are converted to dimensionless quantities.

The controller 26 shown in FIG. 2 compares the first operation amountand the second operation amount and selects a greater of the firstoperation amount and the second operation amount, so as to transmit thegreater amount to the servo motor 11 for injection. Because of this, ifthe first operation amount is equal to or less than the second operationamount, pressure control the same as the conventional pressure controlis performed. In a case where the first operation amount becomes greaterthan the second operation amount, the control for the screw retractingspeed is performed so as to maintain the screw retracting speed at thescrew retracting speed limit value.

Thus, the screw retracting speed has a limit value in the hold pressprocess after the V-P switching so that the screw can be prevented fromretracting at a high speed in the hold press process of the motor-driveninjection molding machine. Hence, it is possible to prevent the moldedarticle from adversely affected.

Next, an example wherein the control system and the method forcontrolling is applied to the hydraulic type injection molding machineshown in FIG. 3 will be described.

The hold press pressure is detected as the resin pressure by theinjection pressure detectors 46 and 47 shown in FIG. 3 that function asthe pressure detecting means. A detection value by the position detector48 shown in FIG. 3 is differentiated so that the screw speed isdetected, by the speed detecting means. The controller 50 shown in FIG.3 functions as the retracting speed limit means.

FIG. 6 is a function block diagram of retracting speed limit means inthe hold press process performed by a controller of the control systemfor the hydraulic type injection molding machine of the embodiment ofthe present invention. Referring to FIG. 6, after the pressure controlbegins in the hold press process following the V-P switching, the firstdifference between the screw retracting speed detection value (negativevalue) and the screw retracting speed limit value (negative value) thatis predetermined is calculated by a first subtracter 1. Here, asdescribed above, the screw retracting speed detection value is obtainedby differentiating the value detected by the position detector 48 shownin FIG. 3.

The second difference between the hold press pressure detected by theinjection pressure detectors 46 and 47 and the hold press pressurepreset value that is predetermined is calculated by a second subtracter2. A first compensator 3 outputs the first operation amount based on thefirst difference. A second compensator 4 outputs the second operationamount based on the second difference. These operation amounts have samedimensions.

The controller 50 shown in FIG. 3 compares the first operation amountand the second operation amount and select the greater of the firstoperation amount and the second operation amount, so as to transmit thegreater amount to the servo valve 43 for cylinder driving. Because ofthis, if the first operation amount is equal to or less than the secondoperation amount, pressure control the same as the conventional pressurecontrol is performed. In a case where the first operation amount becomesgreater than the second operation amount, the control for the screwretracting speed is performed so as to maintain the screw retractingspeed at the screw retracting speed limit value.

Thus, the screw retracting speed has a limit value in the hold pressprocess after the V-P switching so that the screw can be prevented fromretracting at a high speed in the hold press process of the hydraulicinjection molding machine. Hence, it is possible to prevent the moldedarticle from being adversely affected.

Since a limit value is provided for the screw retracting speed in thehold press process, it is possible to prevent adversely effects on themolded article due to the retracting of the screw at a high speed in thehold press process. Hence, it is possible to realize improvement of themeasurement precision of the molded article in the injection molding andsimplification of the molding condition determination.

In addition, in a case where the resin fills the cavity of the mold andthe V-P switching is performed sufficiently before the detected resinpressure reaches the peak pressure that is set (so that the period ofthe filling process is shortened) and furthermore the screw retractingspeed is controlled to the screw retracting speed limit value after thepressure control begins in the hold press process following the V-Pswitching, molding defects phenomena for the thin-walled molded articlesuch as a short shot, sink, burr, warpage, and the like can be preventedeffectively so that a molded article having high quality can beobtained.

The present invention is not limited to these embodiments, butvariations and modifications may be made without departing from thescope of the present invention.

For example, in the above mentioned example, the control method of thepresent invention is applied to a case where the hold press pressurepreset value is set at a first segment of the hold press process underconditions of the hold press pressure preset value Ph1 and time t1.

However, the present invention is not limited to the above mentionedexample. The present invention may be applied to an optional hold presspressure in a case where plural segments of hold press pressure are set.

This patent application is based on Japanese priority patent applicationNo. 2002-141423 filed on May 16, 2002, the entire contents of which arehereby incorporated by reference.

1. A control system for an injection molding machine that performs amolding cycle, the molding cycle including a filling process forcontrolling an advancing motion of a screw of the injection moldingmachine, and a hold press process for controlling a pressure of a moltenresin after the filling process, the control system comprisingretracting speed limit means for limiting a retracting speed of thescrew to a predetermined retracting speed limit value after a pressurecontrol in the hold press process begins, for retracting the screwduring the hold process, based on a difference between a detectedpressure of the molten resin and a predetermined pressure of the moltenresin, and for limiting the retracting speed of the screw, during thehold process, until the detected pressure of the molten resin reachesthe predetermined pressure.
 2. The control system for the injectionmolding machine as claimed in claim 1, further comprising: pressuredetection means for detecting a hold press pressure that is a resinpressure in the hold press process; and speed detecting means fordetecting the retracting speed of the screw, wherein the retractingspeed limit means comprises: first calculation means for calculating afirst operation amount based on a first difference between theretracting speed detected by the speed detecting means and thepredetermined retracting speed limit value; second calculation means forcalculating a second operation amount based on a second differencebetween the hold press pressure detected by the pressure detection meansand a hold press pressure preset value; and control means forcontrolling the retracting speed of the screw based on the firstoperation amount when the first operation amount is greater than thesecond operation amount, and for controlling the hold press pressurebased on the second operation amount when the first operation amount isequal to or less than the second operation amount.
 3. The control systemfor the injection molding machine as claimed in claim 2, wherein aplurality of the hold press pressure preset values are set in the holdpress process, and the second calculation means calculates the secondoperation amount based on the difference between the hold press pressuredetected by the pressure detection means and an optional preset value ofthe plurality of the hold press pressure preset values.
 4. The controlsystem for the injection molding machine as claimed in claim 2, whereinthe second calculation means calculates the second operation amountbased on the second difference between the hold press pressure detectedby the pressure detection means and the hold press pressure preset valueimmediately after the hold press process begins.
 5. The control systemfor the injection molding machine as claimed in claim 2, wherein theinjection molding machine comprises a motor-driven injection moldingmachine having a servo motor for injection; the pressure detection meanscomprises a load cell detecting a resin pressure in an axial directionof the screw; the speed detecting means comprises a position detectordetecting a position of the screw; a detected value obtained by theposition detector is differentiated so that the retracting speed of thescrew is detected; and the retracting speed of the screw is controlledbased on the first operation amount by controlling the servo-motor forinjection.
 6. The control system for the injection molding machine asclaimed in claim 2, wherein the injection molding machine comprises ahydraulic type injection molding machine having an injection cylinderand a servo valve controlling an inflow and outflow of actuating oil tothe injection cylinder, the pressure detection means comprises ahydraulic detector detecting a hydraulic pressure of the injectioncylinder; the speed detecting means comprises a position detectordetecting a position of the screw; a detected value obtained by theposition detector is differentiated so that the retracting speed of thescrew is detected; and the retracting speed of the screw is controlledbased on the first operation amount by controlling the servo-valve.
 7. Amethod for controlling an injection molding machine that performs amolding cycle, the molding cycle including a filling process forcontrolling an advancing motion of a screw of the injection moldingmachine, and a hold press process for controlling a pressure of a moltenresin after the filling process, the method comprising a step forlimiting a retracting speed of the screw to a predetermined retractingspeed limit value after a pressure control in the hold press processbegins; retracting the screw, during the hold process, based on adifference between a detected pressure of the molten resin and apredetermined pressure of the molten resin; and limiting a retractingspeed of the screw, during the hold process, until the detected pressureof the molten resin reaches the predetermined pressure.
 8. The methodfor controlling the injection molding machine as claimed in claim 7,wherein the retracting speed of the screw is detected, so that a firstoperation amount based on a first difference that is the differencebetween the retracting speed that is detected and the retracting speedlimit value is calculated, a hold press pressure that is a resinpressure in the hold press process is detected, so that a secondoperation amount based on a second difference that is the differencebetween the hold press pressure that is detected and a hold presspressure preset value is calculated, the retracting speed of the screwis controlled based on the first operation amount when the firstoperation amount is greater than the second operation amount, and thepressure control is performed based on the second operation amount whenthe first operation amount is equal to or less than the second operationamount.
 9. The method for controlling the injection molding machine asclaimed in claim 8, wherein a plurality of the hold press pressurepreset values are set in the hold press process, and the secondoperation amount is calculated based on the second difference betweenthe hold press pressure detected by a pressure detection means and anoptional preset value of the hold press pressure preset value in theplurality of the hold press pressure preset values that are set.
 10. Amethod for controlling an injection molding machine comprising the stepsof: a) advancing a screw of the injection molding machine so that acavity of a mold is filled with a molten resin; b) retracting the screwbased on a difference between a detected pressure of the molten resinand a predetermined pressure of the molten resin; and c) limiting aretracting speed of the screw until the detected pressure of the moltenresin reaches the predetermined pressure.
 11. The method for controllingthe injection molding machine as claimed in claim 10, wherein thepressure of the molten resin is detected by a pressure detecting means,and the retracting speed is detected by a speed detecting means.
 12. Themethod for controlling the injection molding machine as claimed in claim10, wherein a first operation amount is generated based on a firstdifference between the retracting speed and a predetermined retractingspeed limit value, and a second operation amount is generated based on asecond difference between the pressure of the molten resin detected bythe pressure detecting means and a predetermined pressure value.
 13. Themethod for controlling the injection molding machine as claimed in claim12, wherein the screw is operated based on the first operation amountwhen the first operation amount is greater than second operation amount,and the screw is operated based on the second operation amount when thefirst operation amount is equal to or less than second operation amount.14. A control system for an injection molding machine, the injectionmolding machine including a screw which is advanced by a driving deviceso that a cavity of a mold is filled with a molten resin, and which isretracted based on a difference between a detected pressure of themolten resin and a predetermined pressure of the molten resin after themold is filled with the molten resin, the control system comprising acontroller for limiting a retracting speed of the screw until thedetected pressure of the molten resin reaches the predeterminedpressure; retracting the screw, during the hold process, based on adifference between a detected pressure of the molten resin and apredetermined pressure of the molten resin; and limiting a retractingspeed of the screw, during the hold process, until the detected pressureof the molten resin reaches the predetermined pressure.
 15. The controlsystem for the injection molding machine as claimed in claim 14, furthercomprising: a pressure detecting device for detecting the pressure ofthe molten resin; and a speed detecting device for detecting theretracting speed of the screw.
 16. The control system for the injectionmolding machine as claimed in claim 14, further comprising: a firstcalculating device for generating a first operation amount based on afirst difference between the retracting speed of the screw and apredetermined retracting speed limit value of the screw; and a secondcalculating device for generating a second operation amount based on asecond difference between the detected pressure of the molten resin andthe predetermined pressure of the molten resin.
 17. The control systemfor the injection molding machine as claimed in claim 16 wherein thescrew is controlled based on the first operation amount when the firstoperation amount is greater than second operation amount, and the screwis controlled based on the second operation amount when the firstoperation amount is equal to or less than second operation amount.